SVIn2: Sonar Visual-Inertial SLAM with Loop Closure for Underwater Navigation.
Sharmin RahmanAlberto Quattrini LiIoannis M. RekleitisPublished in: CoRR (2018)
Keyphrases
- mobile robot
- loop closure
- autonomous underwater vehicle
- simultaneous localization and mapping
- outdoor environments
- indoor environments
- obstacle avoidance
- map building
- autonomous underwater vehicles
- sonar images
- loop closing
- unknown environments
- autonomous navigation
- kalman filter
- underwater vehicles
- topological map
- error accumulation
- visual information
- path planning
- robot navigation
- extended kalman filter
- dynamic environments
- mobile robotics
- autonomous vehicles
- particle filter
- bundle adjustment
- inertial sensors
- motion planning
- robotic systems